| 一类不确定遥操作系统的混杂控制 |
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| 引用本文： | 刘霞,黄琦,陈勇.一类不确定遥操作系统的混杂控制[J].电子科技大学学报（自然科学版）,2012,41(5):723-728. |
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| 作者姓名： | 刘霞 黄琦 陈勇 |
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| 作者单位： | 1.西华大学电气信息学院 成都 610039; |
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| 基金项目： | 四川省青年基金人才培养计划(09ZQ026-009);四川省应用基础项目(2009JY0008) |
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| 摘 要： | 提出了一种基于自适应逆动力学和位置误差(PEB)结构的混杂控制方法,以克服动力学参数不确定性对遥操作系统透明性的影响。首先将操作者和环境模型分别融入到主、从机器人的动力学模型中;然后基于逆动力学设计自适应控制器,将其融入PEB结构,并利用李亚普诺夫函数法对系统性能进行了分析。仿真研究表明,该控制方案具有良好的位置和力跟踪性能。
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| 关 键 词： | 混杂控制 遥操作系统 透明性 不确定性 |
| 收稿时间： | 2011-01-18 |
Hybrid Control for a Class of Uncertain Teleoperation Systems |
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| Affiliation: | 1.School of Electrical and Information Engineering,Xihua University Chengdu 610039;2.School of Automation Engineering,University of Electronic Science and Technology of China Chengdu 611731 |
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| Abstract: | n this paper, a hybrid control based on adaptive inverse dynamics and position-error-based (PEB)architecture is proposed to overcome the dynamic parametric uncertainties and guarantee the transparency in teleoperation systems. First, the models of the human operator and the environment are incorporated into the dynamics of the master and the slave, respectively. Then, adaptive controllers based on inverse dynamics are designed and incorporated into PEB architecture. The performance of the system is studied by Lyapunov function.Simulation studies show that the proposed hybrid control method has good performances of position and force tracking. |
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